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PROFIBUS POSITIONER XtrapulsCD1

1. output Rated Power Rated input Max protection Short circuit current output losses current fuses for line power of the Drive type Arms for current W Arms circuit mains UL listed 1 sec Arms 480 VAC 5 listed or 5 480 60 Hz A60Q40 for 480 VAC 400 70 and 400 90 listed CD1 pm 400 1 8 1 8 0 9 35 0 9 2A 5 yes CD1 pm 400 2 7 2 7 1 35 43 1 35 2A 5 yes CD1 pm 400 5 1 5 1 2 55 71 2 55 4A 5 yes CD1 pm 400 7 2 7 2 3 6 93 3 6 4A 5 yes CD1 pm 400 14 14 7 200 7 8A 5 yes CD1 pm 400 30 30 15 400 15 20A 5 yes CD1 pm 400 45 45 20 560 20 20A 5 yes CD1 pm 400 70 70 35 650 35 40A 5 yes CD1 pm 400 90 90 35 650 35 40A 5 KA yes 1 3 COMMON SPECIFICATIONS TO BOTH POSITIONER VERSIONS XTRAPULS 1 230 1 AND XTRAPULS CD1 pm 400 I Regulation loops current speed and position Mains filter on power supply Common mode filter on auxiliary supply Common mode filter on motor brake supply Power stage protections Motor brake control PWM switching frequency Minimum inductance between phases Digital current regulator Current loop bandwidth Internal current limitation Digital speed and position regulators Speed loop bandwidth Digital Integrated in the positioner CD1 400 90 exception EMC capacitors integrated Common mode choke not integrated Recommended filter F 400 70 90 Integ
2. Jo 14 Chapter 2 Specifications XtrapulsCD1 pm Installation manual N R A N O R Chapter 3 Inputs Outputs 1 CONNECTOR LOCATION Profibus 8 24 connector and brake X9 Power connector Resolver connector Command connector Digital I Os connector ON green SYS yellow ERROR red e e AP red BUS green BUSY yellow Chapter 3 Inputs Outputs 15 XtrapulsCD1 pm Installation manual N R A N O R 2 LEDs 2 1 DRIVE FAULT LEDs Location below the X4 command connector green SYS yellow ERROR red red BUS green BUSY yellow ON power supply SYS system fault ERROR Faults grouped on ERROR Led These faults are coded and can be displayed by means of the VDSetup software via the serial RS232 link or the Profibus The ERROR Led groups the following faults SA Power supply overvoltage CL Out of 24 VDC supply range between 18 and 29 V FT Phase ground short circuit FD R Braking system short circuited or overheated FV Fan FO Short circuit temperature power stage supply PWM error protection error RDC Digital resolver converter tracking error CNT Encoder counting error POS Position following error E2P EEPROM error BUS PROFIBUS communication error or Positioner initialization configuration error BUSY Procedure execution e
3. XtrapulsCD1 pm Installation manual PROFIBUS POSITIONER XtrapulsCD1 pm Installation manual N R A N O R WARNING This is a general manual describing a series of servo drives having output capability suitable for driving brushless sinusoidal servo motors Instructions for storage use after storage commissioning as well as all technical details require the MANDATORY reading of the manual before getting the drives operational Please see Xtrapuls CD1 pm User Guide for the operation of the drive commissioning configuration For the PROFIBUS communication see manual Xtrapuls CD1 pm PROFIBUS Communication Profile Maintenance procedures should be attempted only by highly skilled technicians having good knowledge of electronics and servo systems with variable speed EN 60204 1 standard and using proper test equipment The conformity with the standards and the CE approval is only valid if the items are installed according to the recommendations of the drive manuals Connections are the user s responsibility if recommendations and drawings requirements are not met Wait for at least 5 minutes after power down before handling the drives a residual voltage of several Any contact with electrical parts even after power down may involve physical damage A hundreds of volts may remain during a few minutes ESD INFORMATION ElectroStatic Discharge INFRANOR drives are conceived to be
4. Inputs Outputs XtrapulsCD1 pm Installation manual N R A N O R 10 X9 POWER CONNECTOR MAINS MOTOR BRAKING RESISTOR CD1 pm 230 V amp 400 V Xtrapuls CD1 pm 230 l 10 pins male connector with 5 08 mm pitch Female connector supplied Xtrapuls CD1 pm 400 I 10 pins male connector with 7 62mm pitch Female connector supplied Xtrapuls CD1 pm 400 70 and 90 10 pins male connector with 10 16 mm pitch Female connectors supplied in 2 parts 7 pins female pins 1 to 7 and 3 pins female pins 8 to 10 for the motor Fastening torque of the connector screws 0 5 Nm PIN SIGNAL 10 FUNCTION DESCRIPTION 1 RB O Power feedback during the CD1 pm 230 l 100 Ohms 100W 2 RB O motor deceleration with high dp 100 100 inertia and speed CD1 pm 400 1 8 to 7 2 200 Ohms 100W dp 200 100 CD1 pm 400 14 50 Ohms 200 W dp 50 200 CD1 pm 400 30 45 33 Ohms 280 W dp 33 280 CD1 pm 400 70 and 90 16 5 Ohms 560W dp 16 5 560 Braking resistors must be separately ordered 3 DC Parallel connection of the DC Only on UL listed items bus 4 L1 Mains input 1 230 230 VAC 1 or 3 5 L2 6 L3 CD1 pm 400 l 400 to 480 3 7 DC lO Parallel connection of the DC Only on UL listed items bus 8 W O Motor phase W Motor cable with grounded connection by means V O Motor phase V of Faston socket and 360 shield connection on 10 U O Motor phase U grounded
5. N R A N O R Chapter 1 General description 1 INTRODUCTION Series Xtrapuls CD1 pm Profibus positioners are PWM servo drives for the control of AC sinusoidal motors brushless equipped with a position sensor The Xtrapuls CD1 pm servo drive is available as a stand alone single axis block that includes all supplies and mains filter It is available in both mains operated versions 230 VAC and 400 480 VAC The Xtrapuls CD1 pm positioner operates with a PROFIBUS DP interface or in stand alone by using only digital I Os It generates itself the positioning trajectory that allows the programming of 128 positioning sequences 2 DESCRIPTION COMPLIANCE WITH THE STANDARDS 2 1 GENERAL DESCRIPTION The Xtrapuls CD1 pm drive directly controls the motor torque and speed by means of the information provided by a high resolution position sensor resolver or encoder The sinusoidal current commutation based on this high resolution position sensor provides very smooth motor torque force control The Xtrapuls CD1 pm drive can be configured for the feedback of various position sensor types The appropriate position sensor configuration is selectable by software and saved in the drive With a resolver sensor feedback the motor absolute position value over one revolution is available and the servo motor can immediately be enabled after the drive power up With a SinCos tracks sensor which provides two analog Sin and Cos signals electri
6. Installation manual R A N O R 2 ADJUSTMENT TO VARIOUS RESOLVER TYPES For other resolver connections than the Infranor standard chapter 3 section 3 see following wiring diagram of the X1 connector as well as the manufacturer s diagram For the use of resolvers with transformation ratios out of the range 0 3 to 0 5 the adjustment must be factory set NOTE When using resolvers with a number of pole pairs N gt 1 all speed values displayed in the drive are equal to N times the motor rotation speed 3 USE OF THE AOK OUTPUT The AOK output MUST be used on a potential free relay in order to allow the connection of the power supply see Chapter 4 section 1 Connection diagrams The correct drive operation requires this connection logic Switching on the power supply before initializing by means of the 24 VDC auxiliary supply will hinder the operation It will then be necessary to proceed according to the instructions contained in this manual Power relay remote control 24V 1 CAUTION Imax 100 mA see AOK output specifications 38 Chapter 5 Appendix XtrapulsCD1 pm Installation manual N R A N O R 4 ENERGY RECUPERATION VIA A BRAKING RESISTOR All Xtrapuls CD1 drives are equipped with the power feedback system When the motor is decelerating with high inertia and high speed the mechanical braking energy is reflected to the drive This energy is dissipated inside a resistor called brak
7. Installation manual Open collector output protected against load short circuit PROFIBUS link Fault display Motor and application parameter setting Automatic functions Compliance with the standards CE certification 360 shield connection equipotentiality according to the wiring rules Xtrapuls CD1 pm 400 70 and 90 A with mains filter F 400 70 90 Compliance with the standards UL listing 360 shield equipotentiality according to the wiring rules Temperature storage 20 70 operation 5 40 Altitude Moisture Cooling Mounting position Environment Mounting location Weight 10 ZINFRANOR Motor brake coil with 24 VDC 1 5 A PPO 1 or PPO 2 or PPO 3 or PPO 4 LEDs on front panel and diagnostic by serial link RS232 diagnostic by PROFIBUS Serial link RS232 or Profibus DP link Drive adjustment to the motor AUTO PHASING Automatic regulator tuning AUTO TUNING EMC standards immunity EN 61000 4 2 3 4 5 conducted and radiated disturbances EN 55011 Group 1 C3 category Electrical standards for industrial machines EN 60204 1 insulator 1500 Vac 1 mn leakage current 30 mA EMI filters Xtrapuls CD1 pm series have been listed according to UL508C and UL840 regarding the insulator This product was evaluated to the Third Edition of UL508C the UL Standard for Power Conversion Equipment dated May 2002 for the UL Listing USL
8. Relay contact closed if drive ready open if fault Pmax 10 W with Umax 50 V and Imax 100 mA 7 X5 RS 232 CONNECTOR Sub D 9 pins male same connector for all drive types in 230 V and 400 V NAM FUNCTION REMARK 5 0 Volt GND 360 shield connection if no 360 connection on the connector 3 TXD Transmit data RS 232 2 RXD Receive data RS 232 8 X6 PROFIBUS Sub D 9 pins female same for all drive types 230V amp 400V PIN SIGNAL DESCRIPTION Shield Shield RxD TxD P Data Reception Transmission Plus CNTR P Control signal DGND OV VP Supply for termination resistor RxD TxD N Data Reception Transmission Minus CO OO Go N gt 9 X8 AUXILIARY SUPPLY AND BRAKE CONNECTOR 4 pins male connector with 5 08 mm pitch Same connector for all drive types in 230 V and 400 V Female connector supplied Fastening torque of the connector screws 0 5 Nm PIN SIGNAL yo FUNCTION DESCRIPTION 1 GND Potential reference GND grounded potential reference of the 24VDC supply 2 24 VDC 24 VDC auxiliary supply 24 VDC 15 0 4 UL Protection UL 4 mains isolated without brake fuse Regulation with load 3 3 Brake O Motor brake supply Powerless brake 24 VDC 1 5 24 V with 24 VDC 4 Brake O Direct motor brake control Open collector output protected against Imax 1 5A load short circuits 24 Chapter
9. Sub D 25 pins male Same connector for all drive types in 230 V and 400 V Pins Description 1 Optocoupled input START 2 l Optocoupled input STOP 3 l Optocoupled input IN1 4 O Zl 5 O Z 6 O Al 7 O A 8 O B 9 O B 10 l Optocoupled input IN2 11 l Optocoupled input IN3 12 l 0 V external 13 l Optocoupled input IN4 14 l Optocoupled input IN5 15 Optocoupled input IN6 16 O Isolated output SEQ 17 O Isolated output POS 18 O Isolated output SPEED 19 O Isolated output OUT1 20 Isolated output OUT2 21 O Isolated output OUT3 Configurable analog input by jumpers 22 O Isolated output OUT4 Configurable analog output by jumpers 23 O 0 V internal 24 l External supply 24 V 25 0 V external 24 V input only required when the outputs SEQ POS SPEED OUT1 OUT2 OUT3 OUT4 are used The analog input and the analog output are configured by the 3 jumpers located on the drive connector board CD1 pm CD1 pm Connector board as described below Connector board Logic outputs selection Chapter 3 Inputs Outputs Analog I Os selection XtrapulsCD1 pm Installation manual N R A N O R SPECIFICATIONS OF THE LOGIC INPUTS IN1 to IN6 Logic input The input voltage corresponding to level 1 is between 18 V and 30 V OV These inputs are optocoupled and work in positive logic SPECIFIC
10. iara darte oen 16 3 XT RESOLVER CONNECTOR ARR EN piq 16 4 X2 DIGITAL OS CONNECTOR ceat rte n 17 5 3 ENCODER CONNECTOR icone aereo pee eene den pod 19 5 1 CONNECTOR FOR TTL INCREMENTAL ENCODER amp HES INPUT Sub D 25 pins Jut E totes 19 5 2 X3 CONNECTOR FOR SinCos INCREMENTAL ENCODER amp HES INPUT Sub D 25 pins X IPS 20 5 3 X3 CONNECTOR FOR ABSOLUTE SINGLE TURN SIN COS ENCODER Sub D 25 pins female E 21 5 4 CONNECTOR FOR ENCODER OUTPUT Sub D 25 pins female 22 6 X4 COMMAND 77 23 6 1 SPECIFICATIONS OF THE LOGIC INPUTS FC FC INDEX ENABLE RESET 23 6 2 SPECIFICATION OF THE LOGIC RELAY OUTPUT 24 7 Xb RS 232 CONNECTOR assii 24 8 6 PROFIBUS 24 9 X8 AUXILIARY SUPPLY AND BRAKE CONNECTOR naa 24 10 POWER CONNECTOR MAINS MOTOR BRAKING RESISTOR 1 230 V amp 400 V 25 XtrapulsCD1 pm Inst
11. the CSA Standard for Industrial Control Equipment C22 2 N 14 95 dated August 1995 for the Canadian UL Listing CNL From 40 C the rated currents must be reduced of 3 per additional Celsius degree Max temperature 50 C 1000 m lt 50 at 40 C and lt 90 at 20 C EN 60204 1 standard Condensation prohibited storage and operation Forced air fan integrated in the Xtrapuls CD1 pm positioner Check for free ventilation and no upper or lower obstruction of the air admissions Vertical Open chassis to be mounted in a housing protecting the drive from conducting dust and condensation pollution degree 2 environment Closed cabinet without any conducting and or corroding agents and according to the environment conditions requirements Condensation prohibited Xtrapuls CD1 pm 230 I approx 1 kg Xtrapuls CD1 pm 400 1 8 to 7 2 approx 1 5 kg Xtrapuls CD1 pm 400 14 approx 3 kg Xtrapuls CD1 pm 400 30 and 45 about 4 8 kg Xtrapuls CD1 pm 400 70 and 90 about 5 3 kg Chapter 2 Specifications XtrapulsCD1 pm Installation manual 2 DIMENSIONS 2 1 XTRAPULS 1 230 1 POSITIONER E W 3 Cc 2 3 XTRAPULS CD1 pm 400 14 A POSITIONER oc Oc Oc je Oc CC 9 T Cre C Oc g Oc N DC Y Qe Oc Oc OC 8 oc
12. TC TC reserved Differential input of the Sin Cos encoder reference pulse R Differential input of the Sin Cos encoder reference pulse R Differential input of the Sin Cos encoder channel A Differential input of the Sin Cos encoder channel A Differential input of the Sin Cos encoder channel B Differential input of the Sin Cos encoder channel B Encoder supply voltage 300 mA max current Encoder supply GND Hall sensor input signal phase U Hall sensor input signal phase V Hall sensor input signal phase W Hall sensors supply voltage output impedance 9 max 150 mA available Hall sensors supply GND Motor thermal sensor input Motor thermal sensor input Chapter Inputs Outputs XtrapulsCD1 pm Installation manual N R A N O R SPECIFICATION OF THE SIN COS ENCODER CHANNELS X3 1 2 13 X3 14 15 25 20K Uref SPECIFICATION OF THE HALL SENSORS INPUT LINES 3 3V CD1 pm X3 11 12 24 1K 10K 74HC14 X3 23 5 3 X3 CONNECTOR FOR ABSOLUTE SINGLE TURN SIN COS ENCODER Sub D 25 pins female The Absolute single turn SinCos encoder configuration for Heidenhain ERN 1085 or compliant is selectable by software and stored in the drive EEPROM The corresponding X3 connector pin functions are described below FUNCTION REMARKS Marker R Differential input of the Sin Cos encoder reference pulse R Marker R Differential input of the Sin Cos encoder reference pulse R Channel
13. 2 2 2 002202000000000000 000009 11 2 3 XTRAPULS CD1 pm 400 14 POSITIONER a 11 2 4 XTRAPULS CD1 pm 400 30 45 70 AND 90 POSITIONER 11 2 5 BRAKING RESISTOR dp 100 100 200 100 dp 50 200 33 280 and dp 16 5 560 12 FASTENING S m ua D a Ail range Avec dad 13 3 1 XTRAPULS CD1 pm 230 l POSITIONER enne nnne ennt 13 3 2 XTRAPULS CD1 pm 400 1 8 TO 7 2 A POSITIONER sse 13 3 8 XTRAPULS CD1 pm 400 14 A 13 3 4 XTRAPULS CD1 pm 400 30 45 70 AND 90 A 13 4 MULTIAXES CABINET MOUNTING 14 4 1 XTRAPULS CD1 pm 230 l POSITIONER u 14 4 2 XTRAPULS CD1 pm 400 1 8 TO 7 2 A POSITIONER sse 14 4 8 XTRAPULS CD1 pm 400 14 A POSITIONER senes 14 4 4 XTRAPULS CD1 pm 400 30 45 70 AND 90 A POSITIONER 14 CHAPTER 3 INPUTS 2 2 2222 2 24 222222 72 4 7 7 44 400 00 15 1 CONNECTOR LOCATION iip at etit 15 QUE DS cu 16 2 1 DRIVE FAULT LEDS
14. 9 l EEC Oc Oc DOC sm y H 2 am UY 0 4 mm _ COG CO gt Co e COo CD Cc CO Chapter 2 Specifications CINFRANOR 2 2 XTRAPULS CD1 pm 400 1 8 TO 7 2 A POSITIONER HA y Pa es 5 S w NI m 5 07 2 4 XTRAPULS CD1 pm 400 30 45 70 AND 90 A POSITIONER 293 234 CES JAX A a LT ac 000000000000000000000 OC 00000000000000000000 80000 XtrapulsCD1 pm Installation manual 2 5 BRAKING RESISTOR dp 100 100 dp 200 100 dp 50 200 dp 33 280 and dp 16 5 560 dp 16 5 560 Connection of the braking resistor EF 400 16 5 560 W on pins 1 and 3 of the braking resistor connector es Se Se es Se e es Se Se BA ODA CA OA OD OD OAD OD OD OA COCA OA CD OD OCA CAD OAD OCACACACADCACACADS 02026202526252620262026262526252620262026202526202 02626262526262626252626262525262626202526262626 69696969696906969696969096969696909696969690969696 0909505069090950500900009505
15. R 2 3 CONNECTION VIEW OF XTRAPULS CD1 pm 400 30 45 70 and 90 A Maximum tightening torque of the ground connection 3 6 Nm 2 4 MOTOR RESOLVER AND ENCODER CABLES Motors resolvers and encoders are grounded via their housing Cable inputs must be made by means of metal connectors with collars allowing the 360 shield connection The resolver cable must be pair twisted and shielded sin cos ref Motor cables MUST also be shielded and connected over 360 at both ends as shown on the shield connection diagram The encoder inputs A B C D Z and R require a pair twisted and shielded cable The shield must have a 360 connection via metallic collars at both ends If the shield is connected by means of a pig tail it must be connected at one end to the GND pin of the connector on the drive side with a connection as short as possible Check that the voltage drop in the power supply lines of the encoder cable is complying with the technical specifications of the encoder The voltage drop value for a given cable is calculated as follows 10 Tnm with AU voltage drop in volts Lc cable length in meters I encoder current in milliamps see technical specifications S cross section in square millimeters Chapter 4 Connections 31 XtrapulsCD1 pm Installation manual N R A N R Due to this voltage drop encoder with a large power supply v
16. drives and 40 A must not be exceeded on 400 30 45 70 A and 90 A drives see chapter 4 section 3 6 On Xtrapuls CD1 pm 230 I drives the fuse ratings must be the following CD1 pm 230 2 5 to 10 5 230 16 5 Multiaxis BUSSMANN Class RK5 FRN R 6 FRN R 9 0 3 Mi Type FRN R rated amplifier LITTELFUSE Class RK5 FLNR6ID FLNR9ID 0 3x FLNR ID rated amplifier For a multiaxis application with N drives the fuse rating is calculated by the formula given in the table above But a rating of 20 A must not be exceeded on 230 V drives see chapter 4 section 1 5 Chapter 4 Connections 33 XtrapulsCD1 pm Installation manual gt INFRANOR 3 4 XTRAPULS 01 230 1 DRIVE CONNECTION DIAGRAM WITH PROTECTIONS BY UL FUSES according to section 3 3 of this chapter ENABLE relay Remote control of the power relay 24V NE x 2 d 5 4 x ps x Power relay 01 230 1 UL Motor temp odi Motor temp E AOK Resolver 109 ae signal 1 E I 4 INDEX Resolver ON GND reference 9 FOr eJ RESET GND V GND 1 Shield mU 2 24 Vdc 3 RxD TxD P 4 Motor brake pod M DEK brake 5 D GND otor brake 24Vdc 1 5A 6 7 8 RxD TxD N Motor U phase 9 Motor V phase Motor W phase 2
17. not exceed 20A on 230 V drives 20Aon 400 V 1 8 to 14 A drives 40 Aon 400 V 30A and 45 drives 60 Aon 400 V 70 Aand 90A drives 28 Chapter 4 Connections XtrapulsCD1 pm Installation manual N R A N O R 2 WIRING RECOMMENDATIONS according to EN61000 4 2 3 4 5 and EN55011 standards see diagram Shield connection on the connectors chapter 4 section 2 2 2 1 GROUND CONNECTIONS AND GROUNDING CAUTION Each potential conducting element must be shielded Several potential conductors in the same sleeve must be twisted and shielded A shield has no effect if it is not connected toa reference potential connection as short as possible a few centimeters 10 centimeters is prohibited 360 shield connection This means that the whole circumference of the shield sleeve must be connected to the reference conduction via a metal collar The connectors used for the compliance with the EN61000 4 standard must be made of metal or metallized and must allow the 360 shield connections Reference potential connections especially with the ground are recommended only these connections have a very low impedance lt 0 1 Any shield that is not used as a conductor can be connected at both ends with the condition to be connected over 360 at both ends by means of metal links in order to ensure the shield continuity The reference potential must be the ground Cables with low potential
18. should never run in the proximity of high power lines If there is a potential reference i e a main chassis or cabinet with a low impedance between its different elements it should be used to connect ALL reference to it and also being grounded itself Chapter 4 Connections 29 XtrapulsCD1 pm Installation manual 2 2 CONNECTORS SHIELD CONNECTION RULE The shield should never be interrupted or corrupted over the whole cable length Self sticking copper ribbon if necessary for increasing the shield diameter in order to get it correctly tightened under the clamp WWW Motor connector for resolver and motor Metallic or metal plated plastic SUB D pin package 360 shield ensured by the tightening clamp The fastening screws must be tightened in order to ensure the shield continuity on the amplifier housing INFRANOR amplifier SUB D connector NOTE In order to improve the contact and to avoid the cable shield corruption use the self sticking copper ribbon of 3 M Electrical Specialities Division ref 1739 7 NOTE When the 360 shield connection is made by means of a collar it is not necessary to connect a cable on the appropriate pin of the SUB D connector 30 VS gt INFRANOR 2 0000 B a Co EE Chapter 4 Connections XtrapulsCD1 pm Installation manual N R A N O
19. 009090950609690900606909 000000000000000000000000000000000000000000000090 000000000000000000000000000000000000000000000000 696969696969696969696969696969069069696969696969696 69696969696906906969696906969696596906969696969069696 6969696969690690696969690696969696909696969690969690 696969696969069696969690969696969096969690690969696 000000000000000000000000000000000000000000000090 000000000000000000000000000000000000000000000090 0909005069090960506909096050690909606069090960690 000000000000000000000000000000000000000000000900 0262625252626262525262626202526262626 BOP Bsa ronOp0 504050405070 205020 03040 0 04050 DOO 090900950690909095069090900505909090050690909096 0605 0R050500050505050505040 504040 05 0 p00 50505040 696969696969069696969690969696969096969690690969696 0000000000000000000000000000000000000000000000090 000000000000000000000000000000000000000000000000 02626252626262562525626262625256262626252626262020262 6969696969696969696969069696959690696969696906969696 150 40 DIMENSIONS dp 50 200 dp 100 100 and dp dp 33 280 dp 16 5 560 200 100 A 157 mm 290 mm 290 mm B 145 mm 278 mm 278 mm 83 83 57 mm D 52 mm 57mm 145 mm 12 Chapter 2 Specifications XtrapulsCD1 pm Installation manual FASTENING VERTICAL MOUNTING MANDATORY 3 1 XTRAPULS 01 230 1 POSITIONER 2 M4 screws 2 4 washe
20. 30Vac 230 Vac 13 Mai pertes gt three 230 Vac 12 3400 phase 230 vac 11 See UL Power DC fuses table relay Braking resistor Braking resistor Mains single 230 Vac Power relay See UL fuses table 1 CAUTION Imax 100 mA see AOK output specifications IMPORTANT The installer of the drives has to use a UL listed quick connect for ground connection 0 250 inches or 6 35 mm wide nominal Field wiring terminals must use copper conductors only Torque value for field wiring terminals according to the Recognized terminal block used 34 Chapter 4 Connections XtrapulsCD1 pm Installation manual SINFRANOR 3 5 XTRAPULS 1 400 DRIVE CONNECTION DIAGRAM WITH PROTECTIONS BY UL FUSES according to section 3 3 of this chapter ENABLE relay Remote control of the power relay 24V Power ON Amp OK 1 l l l Power OFF l l Power relay CON O O N CD1 pm 400 l UL RESOLVER Motor temp Motor temp ENABLE Resolver FC signal FC INDEX Resolver GND reference RESET GND GND Shield 4 A UL listed 230 Vac 24 Vdc 15 iso RxD TxD P CNTR P Motor Motor brake brake Motor brake 24Vdc 1 5A Motor U phase Motor V phase Motor W phase DC 400Vac 400 Vac L3 three
21. 400 70 and 90 dp 16 5 560 1 CAUTION Imax 100 mA see output specifications 49A for lt 14 Note The 24 V and power supplies protection on source side must be made by the user 1 3 SERIAL LINK CONNECTION 20A for 30 and 45 40A for 70 and 90A Circuit breaker curve D 115 10 x In 360 shield connection GND 5 Sub D 9 pins female Chapter 4 Connections Sub D 9 pins female 27 XtrapulsCD1 pm Installation manual gt N R A N O R 1 4 CONNECTION OF A BACKUP BATTERY FOR THE 24 VDC AUXILIARY SUPPLY D 230 VAC D gt Battery R 30 A h T Xtrapuls CD1 pm positioner consumption is 320 mA with 24VDC So 24 V 30 A h battery can keep the positioner under voltage during i e a long 3 days week end or during a mains cut off without loosing the machine initialization This backup method is very interesting for saving the machine initialization as well as the axis position even when moving with mains switched off An ASCII command allows to send the axis position to the digital host system 1 5 CONNECTION EXAMPLE FOR A MULTIAXIS APPLICATION CD1 pm 230 l 3x 230 V CD1 pm 400 l x 400 V Circuit breaker curve D 115 10 x In For a multiaxis application with n drives the circuit breaker current rating is given by the formula In 0 3 Y rated amplifier But the current rating of the circuit breaker must
22. 400 Vac L2 Mains phase 400 Vac L1 3x400 Powe DC relay Braking resistor Braking resistor Braking resistor CD1 pm 400 1 8 to 7 2 dp 200 100 CD1 pm 400 14 dp 50 200 CD1 pm 400 30 45 dp 33 280 CD1 pm 400 70 and 90 dp 16 5 560 10Aforl lt or 14A 1 CAUTION Imax 100 mA cf AOK output specifications 30 and 45 A IMPORTANT The installer of the drives has to use a UL listed quick connect for ground connection 0 250 inches or 6 35 mm wide nominal 40 A for 70 and 90A Field wiring terminals must use copper conductors only Torque value for field wiring terminals according to the Recognized terminal block used Chapter 4 Connections 35 XtrapulsCD1 pm Installation manual N R A N O R 3 6 CONNECTION EXAMPLE FOR A UL CONPLIANT MULTIAXIS APPLICATION CD1 pm KKK Mains UL mounting For the choice of the fuses see chapter 4 section 3 3 RB ig CD1 pm 230 l 3 x 230 V CD1 pm 400 l 3 x 400 V 4 FIRST POWERING OF THE XTRAPULS CD1 pm POSITIONER 4 1 VERY IMPORTANT Check the connections particularly of the 24 VDC and power supplies There are two different positioner voltage versions 230 VAC and 400 VAC Check for the appropriate label It must be in accordance with the power connections The 400 VAC connection of a 230 V positioner will destroy it The ENABLE signal X4 connector pin 3 must be inactive Check for the braking res
23. 5 4 5 2 25 30 2 25 6A 5kA yes CD1 pm 230 7 5 7 5 3 75 44 3 75 6A 5kA yes CD1 pm 230 10 5 10 5 5 25 55 5 25 6A 5 yes CD1 pm 230 16 5 16 5 8 25 66 8 25 9A 5 yes OPERATION POWER RESTRICTION IN SINGLE PHASE Continuous RMS power ensuring a capacitor lifetime of 20 000 hours 650 W for Xtrapuls CD1 pm 230 2 25 to 10 5 1000 W for Xtrapuls CD1 pm 230 16 5 1 2 XTRAPULS 01 400 1 POSITIONER Mains operating power supply voltage 400 to 480 VAC 10 15 3 TN or TT system with grounded neutral point 50 to 60 Hz phase ground voltage must be balanced Isolated auxiliary and motor brake supply voltage 24 VDC 15 320 mA without brake Motor phase phase output voltage 380 to 460 Vrms depending on the mains Integrated braking system Xtrapuls CD1 pm 400 1 8 to 7 2 A External 200 Ohms 100 W resistor dp 200 100 Minimum resistor value 150 Ohms 100 W Xtrapuls CD1 pm 400 14 External 50 Ohms 200 W resistor dp 50 200 Xtrapuls CD1 pm 400 30 45 External resistor 330 280 W dp 33 280 Xtrapls CD1 pm 400 70 90 External resistor 16 50 560 W dp 16 5 560 Minimum inductance between phases 2 mH Chapter 2 Specifications 7 XtrapulsCD1 pm Installation manual OUTPUT CURRENT RATINGS at a maximum room temperature of 40 C Output voltage range for 400 480 VAC rms three phase mains Output current range 1 8 A 2 7 5 1 7 2 A 14 A 30 A 45 A 70 A 90 A rms
24. A Differential input of the Sin Cos encoder channel A Channel A Differential input of the Sin Cos encoder channel A Channel B Differential input of the Sin Cos encoder channel B Channel B Differential input of the Sin Cos encoder channel B Channel C Differential input of the Sin Cos encoder channel C Channel C Differential input of the Sin Cos encoder channel C Channel D Differential input of the Sin Cos encoder channel D Channel D Differential input of the Sin Cos encoder channel D 5V Encoder supply voltage 300 mA max current GND Encoder supply GND TC Motor thermal sensor input TC Motor thermal sensor input reserved Chapter 3 Inputs Outputs 21 XtrapulsCD1 pm Installation manual N R A N O R SPECIFICATION OF THE SIN COS ENCODER CHANNELS X3 1 2 13 X3 14 15 25 SPECIFICATION OF THE SIN COS COMMUTATION CHANNELS 5 4 X3 CONNECTOR FOR ENCODER OUTPUT Sub D 25 pins female At power on the differential channels A B and Z are configured as encoder inputs The configuration as encoder outputs must be enabled via the PROFIBUS bus The corresponding X3 connector pin functions are described below FUNCTION REMARKS Channel A Differential output of channel A Channel A Differential output of channel A Channel B Differential output of channel B Channel B Differential output of channel B Marker Z Differential output of channel Z Marker Z Differential output of chann
25. ATIONS OF THE LOGIC OUTPUTS SEQ POS SPEED OUT1 to OUT4 CD1 pm 24V external 24 external 330 Ohms 10 KOhms Driver oV OV external Hc M Hm External supply 24 V 18 V U lt 30 V Maximum voltage drop 2 V Protection against overloads Output current available per output mA Number of activated outputs Cyclic rate 100 10 50 30 2 200 mA 200 200 200 mA 4 100 mA 150 200 mA 200 mA 7 60 80 120 mA 200 mA SPECIFICATIONS OF THE ENCODER OUTPUTS 26LS31 driver Recommended receiver 26L S32 18 Chapter Inputs Outputs XtrapulsCD1 pm Installation manual N R A N O R SPECIFICATIONS OF THE ANALOG INPUT X2 21 X2 23 5 ENCODER CONNECTOR Sub D 25 pins female same connector for all drive types in 230 V and 400 V 5 1 CONNECTOR FOR TTL INCREMENTAL ENCODER amp HES INPUT Sub D 25 pins female The TTL incremental encoder amp HES configuration is selectable by software and stored in the drive EEPROM The corresponding X3 connector pin function is described below PIN FUNCTION REMARKS 18 Marker 7 Differential input of the encoder marker pulse Z 5 Marker Z Differential input of the encoder marker pulse Z 19 Channel A Differential input of the encoder channel A 6 Channel A Differential input of the encoder channel A 20 Channel B Differential input of the encoder channel B 7 Cha
26. EN 55011 group 1 C3 category regarding radiated radioelectric disturbances EN 61000 4 2 3 4 5 regarding immunity Standard to be applied to the electrical equipment of industrial machines EN 60204 1 These items have been CE marked since year 2000 2 3 REFERENCE TO THE STANDARDS UL LISTING Xtrapuls CD1 pm series have been cULys listed according to UL508C UL840 regarding the insulator This product was evaluated to the Third Edition of UL508C the UL Standard for Power Conversion Equipment dated May 2002 for the UL Listing USL the CSA Standard for Industrial Control Equipment C22 2 N 14 95 dated August 1995 for the Canadian UL Listing CNL Providing that the manual is specifying that the end user has to provide an isolated power supply for 24 VDC auxiliary input protected by a 4 A UL Listed fuse the power board is considered within a limited voltage current circuit per section 31 4 of UL508C Therefore spacings on the power board are not required to be evaluated per section 31 2 of UL508C and were evaluated according to UL 840 Per UL 840 Second Edition dated May 20 1993 requirements spacings are limited to 2 5 mm assuming pollution degree 2 environment Ground connection is fixed in the frame of the device by a rivet Avibulb masse BN10 5168 The connector complies with standard dimensions given in table 6 2 of UL 310 the standard for Electrical Quick connect terminals 3 OTHER DOCUMENTS
27. EQUIREMENTS OF COMPLIANCE WITH THE UL STANDARDS The UL listing requires the following conditions to be fulfilled by the installer of the drives 3 1 CONNECTION BY MEANS OF FASTON SOCKET The installer must use a UL listed quick connect for ground connections 0 250 inches or 6 35 mm wide nominal on all drives equipped with FASTON sockets On drives equipped with a screwed ground connector the connection must be made via UL listed sockets 3 2 24 V SUPPLY The end user has to provide a 24 VDC isolated power supply e g with isolated transformer for the auxiliary supply input protected by a 4 A UL listed fuse 3 3 POWER SUPPLY AND UL FUSE RATING The fuse type recommended for motor applications is of class RK5 The maximum short circuit power of the mains must not exceed 5000 Arms at a voltage of 480 V when protected by a UL fuse of type 5 and A60Q40 for 400 70 and 400 90 ratings On Xtrapuls CD1 pm 400 I drives the fuse ratings must be the following CD1 pm 400 1 8 to 7 2 400 14 400 30 and 45 400 70 and 90 Multiaxis BUSSMANN Class RK5 FRS R 4 FRS R 8 FRS R 20 FERRAZ 0 3 x i A60Q40 1 rated amplifier Type FRS R LITTELFUSE Class RK5 FLSR2ID FLSR8ID FLSR20ID FERRE 0 3 x gt A60Q40 1 ratedamplifier Type FLSR ID For a multiaxis application with N drives the fuse rating is calculated by the formula given in the table above But a rating of 20 A must not be exceeded on 400 1 8 A to 14 A
28. Hz Resolution 500 to 10 ppr Interpolation factor 1024 Absolute single turn Sin Cos encoder Heidenhain ERN 1085 or compliant Maximum signal frequency 200 kHz Resolution 2048 or 512 ppr Interpolation factor 1024 Selectable by software 120 or 60 HES type 5 V or 12 V supply voltage HES sequence error detection A and B channels in quadrature Z marker pulse 1 per motor revolution RS 422 line driver Programmable resolution from 64 ppr to 16384 ppr Arc minute accuracy 8 5400 Resolution Enable Disable ENABLE Limit switch FC Limit switch FC Homing input INDEX Reset of a stored fault RESET Sequence start START Sequence stop STOP Programmable inputs IN1 to IN6 Sequence in progress SEQ Position reached POS Speed reached SPEED Programmable outputs OUT1 to OUT4 10 V resolution 14 bit 1 reconfigurable logic output On the fly speed limitation Polarity selectable by software no limitation for O Volt no limitation for 10 Volt 10 V resolution 8 bit 1 reconfigurable logic output Load 10 mA linearity 296 low pass filter 170 Hz Programmable output signal Channel 1 of the digital oscilloscope current speed or position or Phasing OK output from 0 V to 10 V when the motor phasing is OK for an incremental encoder without HES Relay contact Umax 50 V Imax 100 mA Pmax 10 W Amp ready Closed if drive OK open if fault XtrapulsCD1 pm
29. MEANS OF FASTON SOCKKETI 33 VLLL REDUCE 33 3 3 POWER SUPPLY AND UL FUSE RATING 33 3 4 XTRAPULS CD1 pm 230 l DRIVE CONNECTION DIAGRAM WITH PROTECTIONS UL IU T CREE 34 3 5 XTRAPULS CD1 pm 400 l DRIVE CONNECTION DIAGRAM WITH PROTECTIONS y IPIE 35 3 6 CONNECTION EXAMPLE FOR A UL COMPLIANT MULTIAXIS APPLICATION 36 4 FIRST POWERING OF THE XTRAPULS CD1 PM 36 4 1 VERY IMPORTAN I ciis A 36 4 2 SWITCH ON THE 24 VDC 5 120 00000000000000000100000 EEs EEEN n EE 36 4 3 SWITCH ON THE 230 VAC OR 400 VAC SUPPLY according to the positioner type 36 4 4 FURTHER COMMISSIONING 2 0 000 2000000010000 36 CHAPTER 5 APPENDIX U U U u u u u Casa 37 1 HARDWARE ADJUSTMENTS OF THE LOGIC BOARD 37 2 ADJUSTMENT TO VARIOUS RESOLVER TYPES 38 3sUSE OF THE OUTPUT apuka aider renta gode avere 38 4 ENERGY RECUPERATION VIA A BRAKING RESISTOR 39 5S ORDER CODE eher dte dee dedo rettet de Terre eder ve b ades 39 4 Contents XtrapulsCD1 pm Installation manual
30. REQUIRED FOR THE COMMISSIONING Xtrapuls CD1 pm Profibus positioner User Manual Xtrapuls CD1 pm Profibus Communication Profile CD1 pm SinCos track feedback application note regarding the use of motors equipped with SinCos tracks position sensors CD1 pm absolute encoders feedback application note regarding the use of absolute single turn multi turn or linear encoders using the ENDAT or HIPERFACE Communication protocols 6 Chapter 1 General description XtrapulsCD1 pm Installation manual N R A N O R Chapter 2 Specifications 1 MAIN TECHNICAL DATA 1 1 XTRAPULS 1 230 POSITIONER Mains operated power supply voltage 230 VAC 10 15 1 or 3 50 60 Hz Isolated auxiliary galvanic and motor brake 24 VDC 15 320 mA without brake supply voltage Motor phase phase output voltage 200 Vims Integrated braking system External 100 Ohm 100 W braking resistor dp 100 100 Min resistance 50 Ohm dp 50 200 Minimum inductance between phases 1mH OUTPUT CURRENT RATINGS at a maximum room temperature of 40 C Max output Rated Power Rated input Max protection Short current Arms output losses current Arms fuses for line circuit Drive type for 1 sec current W 230 VAC circuit power of UL 5 Arms 60 Hz 5 listed the mains listed 230 VAC 230 VAC Bussman Littelfuse CD1 pm 230 2 25 2 25 1 1 25 1 1 6A 5kA yes CD1 pm 230 4
31. allation manual N R A N O R CHAPTER 4 080006000000 26 DIAGRAMS uuu u u e unas aaa reni bere d een 26 1 1 XTRAPULS CD1 pm 230 l 22222 2 00000 00000000000000000000000 800000 26 1 2 XTRAPULS CD1 pm 400 l POSITIONER a 27 1 3 SERIAL LINK CONNECTION u 1 0cccccsoorsssssoonssssssnnsssssconssssenonsesssconsassanensasssconsassssnonsesssnenseees 27 1 4 CONNECTION OF A BACKUP BATTERY FOR THE 24 VDC AUXILIARY SUPPLY 28 1 5 CONNECTION EXAMPLE FOR A MULTIAXIS APPLICATION 28 2 WIRING 29 2 1 GROUND CONNECTIONS AND GROUNDING 29 2 2 CONNECTORS SHIELD 30 2 3 CONNECTION VIEW OF XTRAPULS 1 400 30 45 70 and 90 31 2 4 MOTOR RESOLVER AND ENCODER CABLES 31 2 5 SERIAL LINK CABEES a dte 32 2 6 CONNECTION CABLES OF THE BRAKING RESISTOR 32 3 REQUIREMENTS OF COMPLIANCE WITH THE UL 33 3 1 CONNECTION BY
32. best protected against electrostatic discharges However some components are particularly sensitive and may be damaged if the drives are not properly stored and handled STORAGE The drives must be stored in their original package When taken out of their package they must be stored positioned on one of their flat metal surfaces and on a dissipating or electrostatically neutral support A Avoid any contact between the drive connectors and material with electrostatic potential plastic film polyester carpet HANDLING If no protection equipment is available dissipating shoes or bracelets the drives must be handled via their metal housing Never aet in contact with the connectors ELIMINATION In order to comply with the 2002 96 EC directive of the European Parliament and of the Council of 27 January 2003 on waste electrical and electronic equipment WEEE all INFRANOR devices have got a sticker symbolizing a crossed out wheel dustbin as shown in Appendix IV of the 2002 96 EC Directive This symbol indicates that INFRANOR devices must be eliminated by selective disposal and not with standard waste INFRANOR does not assume any responsibility for any physical or material damage due to improper handling or wrong descriptions of the ordered items Any intervention on the items which is not specified in the manual will immediately cancel the warranty Infranor reserves the right to change any information contained in this manual w
33. cally compliant with the SinCos encoder signals and which period is equal to the motor pole pitch the servo motor can be immediately enabled after the powering of the drive With an absolute single turn SinCos encoder feedback Heidenhain ERN 1085 or compliant the servo motor can also immediately be enabled after the drive power up With an incremental encoder only a motor phasing procedure Phasing must be executed at each drive power up before the motor enabling With an incremental encoder Hall Effect Sensors HES feedback the motor phasing procedure is no more necessary and the servo motor can immediately be enabled after the drive power up With an absolute single turn multi turn or linear encoder using the ENDAT or HIPERFACE communication protocols and fitted with incremental SinCos outputs the servo motor can also be immediately enabled after the powering of the drive Series Xtrapuls CD1 pm positioners have their own DC DC converter to provide appropriate logic voltage to the modules An auxiliary 24VDC 15 supply is generally available on all machines and supplies a DC DC converter with all logic supplies required by the positioner The auxiliary supply allows to keep the logic board on after the power supply has been switched off in order to keep all parameters in the memory and to avoid initializing the machine all over again A 24 VDC battery supply with specific wiring allows to keep the position even after swi
34. collar IMPORTANT The motor and brake cable must be shielded and connected over 360 on collars mounted for this purpose on the housing The ground wire of the motor cable MUST be connected to the Faston socket marked with the GND sign The earth reference must also be connected on the second Faston socket installer of the drives has to use a UL Listed Quick connect for ground connection 0 250 inches or 6 35 mm wide nominal Field wiring terminals have to use copper conductors only Torque value for field wiring terminals value to be according to the Recognized terminal block used Chapter 3 Inputs Outputs 25 XtrapulsCD1 pm Installation manual Chapter 4 Connections 1 CONNECTION DIAGRAMS 1 1 XTRAPULS CD1 pm 230 1l POSITIONER For the UL compliant connection see chapter 4 section 3 4 CD1 pm 230 I Motor temp Motor temp AoK 1 _ ENABLE relay AOK ENABLE Resolver FC signal FC INDEX Resolver GND reference RESET GND GND 230 Vac Shield 24 Vdc RxD TxD P CNTR P D GND VP Motor brake Motor brake RxD TxD N Motor U phase CON DAWN Remote control of the power relay ON Amp OK 1 Power OFF C Power relay Motor V phase Motor W phase DC 230Vac Vac L3 three 230 Vac L2 phase 230 L1 DC Braking resis
35. el Z GND 0 V reference of the drive reserved 22 Chapter Inputs Outputs XtrapulsCD1 pm Installation manual N R A N O R SPECIFICATION OF THE ENCODER OUTPUT SIGNALS Driver X3 6 7 75 176 X3 5 X3 19 20 6 X4 COMMAND CONNECTOR 8 pins male connector with 5 08mm pitch Same connector for all drive types in 230 V and 400 V Female connector supplied Fastening torque of the connector screws 0 5 Nm PIN SIGNAL y o REMARK 1 2 AOK and AOK Relay contact closed when drive OK Pmax 10 W with Umax 50 V or Imax 100 mA 3 ENABLE Positive optocoupled logic 4 Limit switch Positive optocoupled logic 5 Limit switch Positive optocoupled logic 6 INDEX Positive optocoupled logic 7 GND 0 V of logic inputs Potential reference of the optocoupled galvanic isolated logic inputs This potential reference may be different from the auxiliary supply 8 RESET Positive optocoupled logic Inhibition of the faults memory stored in the drive 6 1 SPECIFICATIONS OF THE LOGIC INPUTS FC FC INDEX ENABLE RESET Logic input x The input voltage corresponding to level 1 is between 18 V and 30 V OV These inputs are optocoupled and work in positive logic Chapter 3 Inputs Outputs 23 XtrapulsCD1 pm Installation manual N R A N O R 6 2 SPECIFICATION OF THE AOK LOGIC RELAY OUTPUT Bidirectional transile
36. ing resistor In order to avoid heat dissipation inside the drive the braking resistor is ALWAYS mounted outside It MUST be mounted out of range of heat sensitive and inflammable elements plastic cable sleeves For an optimum power feedback by the drives in a multiaxis application the DC bus DC and DC can be connected in parallel see diagram in chapter 4 section 1 5 In this case the mains input must also be parallel wired in order to balance the current load inside the AC DC converters It is recommended to mount the braking resistor on the drive with highest current rating An electronic control of the reflected power avoids the overload of the braking resistor So if the energy reflected to the drives with parallel mounted DC busses is too high the DC bus voltage will rise up to the triggering of the Overvoltage fault A second resistor must then be mounted on the second axis 5 ORDER CODE Xtrapuls CD1 pm U Series CD1 Profibus interface 230 230 VAC operation voltage 400 400 or 480 VAC operation voltage Current rating 2 25 14 5 17 5 10 5 16 5 Arms with 230 VAC 1 8 2 7 15 1 17 2 14 30 45 70 90 Arms with 400 VAC Chapter 5 Appendix 39
37. istor sizing dp 100 100 for 230 VAC dp 200 100 for 400 VAC and current ratings 1 8 to 7 2 dp 50 200 for 14 A current rating dp 33 280 for 30 45 A current ratings dp 16 5 560 for 70 and 90 A current ratings Check for the correct groundings and 360 shield connections WARNING During the machine adjustments some drive connection or parameter setting errors may involve dangerous axis movements It is the user s responsibility to take all necessary steps in order to reduce the risk due to uncontrolled axis movements during the operators presence in the concerned area 4 2 SWITCH ON THE 24 VDC SUPPLY The green front panel ON Led must light up The red front panel AP Led must light up The AOK relay contact pins 1 and 2 of X4 is closed It is possible to control the power relay according to the recommendations of Chapter 4 section 1 Connection diagrams Connection according to X8 sticker 4 3 SWITCH ON THE 230 VAC OR 400 VAC SUPPLY according to the positioner type 4 4 FURTHER COMMISSIONING PROCEDURE See manual Xtrapuls CD1 pm Positioner User guide 36 Chapter 4 Connections XtrapulsCD1 pm Installation manual N R A N O R Chapter 5 Appendix 1 HARDWARE ADJUSTMENTS OF THE LOGIC BOARD LOGIC BOARD 01685 Encoder 5 V supply fuse x 5 g a Jumper always Amplifier address Jumper always Chapter 5 Appendix 37 XtrapulsCD1 pm
38. ithout notice INFRANOR May 2011 All rights reserved Issue 8 10 XtrapulsCD1 pm Installation manual N R A N O R Content PAGE slip 3 CHAPTER 1 GENERAL DESCRIPTION u uu uu nunnur nunnan nunnan nnmnnn na 5 1 INTRODUCTION uuu una 5 2 DESCRIPTION COMPLIANCE WITH THE STANDARDS sss eene 5 2 1 GENERAL 5 2 2 REFERENCE TO THE STANDARDS CE CERTIFICATION 6 2 3 REFERENCE TO THE STANDARDS UL LISTING sienne 6 3 OTHER DOCUMENTS REQUIRED FOR THE COMMISSIONING 6 CHAPTER 2 SPECIFICATIONS U U U u uu uuu nnne 7 1 TECHNICAL BATA adden e dV oen ERR Sa IRR ndn d 7 1 1 XTRAPULS CD1 pm 230 l POSITIONER einen nnn nnn tnnt nnne nnne 7 1 2 XTRAPULS CD1 pm 400 l POSITIONER sese nnt nnns 7 1 3 COMMON SPECIFICATIONS TO BOTH POSITIONER VERSIONS XTRAPULS CD1 pm 230 1 AND XTRAPULS CD1 pm 400J l nne 8 2 DIMENSIONS c TSS ag m Eh Sumu ad edhe Gees ate ie ae 11 2 1 XTRAPULS 1 230 POSITIONER u 11 2 2 XTRAPULS CD1 pm 400 1 8 TO 7
39. nnel B Differential input of the encoder channel B 8 5 V Encoder supply voltage 300 mA max current 21 GND Encoder supply GND 11 HALL U Hall sensor input signal phase U 24 HALL V Hall sensor input signal phase V 12 HALL W Hall sensor input signal phase W 10 12 V Hall sensors supply voltage output impedance 9 max 150 mA available 23 AGND Hall sensors supply GND 9 TC Motor thermal sensor input 22 TC Motor thermal sensor input others reserved Chapter 3 Inputs Outputs 19 XtrapulsCD1 pm Installation manual ENCODER INPUT LINES SPECIFICATION Receiver 75 176 Receiver X3 19 20 The 470 Q resistor is wired as from index 230 400 1 8 to 7 2 A 400 14 A 400 30 to 45 A 400 70 to 90 A ak ak ak X D CD1 pm There is no braking resistor on the former versions SPECIFICATION OF THE HALL SENSORS INPUT LINES 3 3V X3 11 12 24 1K 74HC14 X3 23 5 2 X3 CONNECTOR FOR SinCos INCREMENTAL ENCODER amp HES INPUT Sub D 25 pins female The SinCos incremental encoder amp HES configuration is selectable by software and stored into the drive EEPROM The corresponding X3 connector pin functions are described below PIN FUNCTION REMARKS 25 13 14 1 15 2 8 21 11 24 12 10 23 9 22 others 20 Marker R Marker R Channel A Channel A Channel B Channel B 5V GND HALL U HALL V HALL W 12V AGND
40. oltage range should be preferred the encoder has got power supply SENSE feedback lines they can be connected to the power supply lines in order to reduce the voltage drop by the half the SENSE feedback signal is not used in the Xtrapuls CD1 range if none of both solutions above can be used the user has to supply the encoder by means of an external power supply Example The application requires an Heidenhain linear encoder supplied by 5 V 5 300mA with 25 m cable length Min power voltage 5 V 5 gt AUmax 0 25 V Min cross section 5 1 2 Such a large cross section is difficult to obtain so the user can either connect the SENSE feedback signal lines with power supply lines while the needed wires cross section will be the half 0 6 or use the same encoder type but the version which allows its power supply voltage from 3 6 V to 5 25V 300mA Min power voltage 3 6V gt AUmax 1 4V c Min cross section S 0 21mm The cables of brake equipped motors must also have their brake cables shielded in order to be EMC compliant Maximum cable length resolver x 100 m encoder lt 25 m motor x 25 m For motor cable length 25 m we advise to use the maximum cable section allowed by the connectors to mount a reactance with an inductive value between 1 and 3 of the motor inductive value The reactance inductive value must be taken into account in the calculation of the curren
41. rated in the positioner Integrated in the positioner power supply overvoltage internal switch protection short circuit between motor phases or between motor phase and ground drive overtemperature on Xtrapuls CD1 pm 400 l only fan system error PWM control error power stage supply error braking system error Max 1 5 A with 24 VDC 8 kHz 1 mH for 230 V 2 for 400 V Adjusted to the motor Cut off frequency for 45 phase shift 1000 Hz Imax 20 96 to 100 and Irated 20 96 to 50 96 Imax duration 1 second Sampling period 0 5 ms Anti wind up system of the integrator Adjustable digital gains Selectable cut off frequency for 45 phase shift 50 Hz 75 Hz or 100 Hz Chapter 2 Specifications XtrapulsCD1 pm Installation manual Max motor speed Resolver input Encoder input Hall sensors input Encoder position output Logic inputs Logic outputs Analog input Analog output Relay outputs Chapter 2 Specifications CINFRANOR Adjustable from 100 rpm to 25 000 rpm Position conversion 65536 ppr 16 bit Excitation frequency 8 kHz Transformation ratio 0 3 to 0 5 other available values are factory set Selectable by software Quadrature signals A amp B with Z marker pulse RS 422 line receiver Maximum pulse frequency 1 MHz Resolution 500 to 10 ppr Incremental Sin Cos encoder Heidenhain 1Vcc Sin Cos type or compliant Maximum signal frequency 200 k
42. rror TMOT Motor temperature RES Resolver cable interruption COD Encoder cable interruption Hall Effect Sensors error BUS PROFIBUS communication OK BUSY Procedure in progress blinking AP No power supply The AOK output does not take into account the display of AP All faults except for the Undervolt fault involve the positioner disabling the motor brake control the opening of the AOK relay contact This relay must be wired as described in section 5 3 for switching off the power supply in order to keep a zero type standstill The AP fault involves the positioner disabling the motor brake control 3 X1 RESOLVER CONNECTOR Sub D 9 pins female same for all drive types 230V amp 400V FUNCTION REMARKS 1 TC thermal sensor thermal switch connected to X1 Shield connection The shield must have a 360 connection on the connector metal cover This connection can be completed by connecting the wires to pin 1 TC thermal sensor If thermal switch connected to X1 1 cosine Resolver connector 53 Resolver connector 54 Resolver connector 2 sine Resolver connector R2 reference Resolver connector R1 reference Resolver connector For other resolver connections see chapter 5 Appendix section 2 16 Chapter Inputs Outputs XtrapulsCD1 pm Installation manual SINFRANOR 4 X2 DIGITAL I Os CONNECTOR
43. rs 192 3 3 XTRAPULS CD1 pm 400 14 A POSITIONER 2 M4 screws 2 4 washers 3 15 er 2 Specifications ZINFRANOR 3 2 XTRAPULS CD1 pm 400 1 8 TO 7 2 A POSITIONER 2 M4 screws 2 4 washers 228 3 4 XTRAPULS CD1 pm 400 30 45 70 AND 90 A POSITIONER 4 4 screws 4 4 washers 4 15 278 5 288 mmi 110 00 13 XtrapulsCD1 pm Installation manual G N F R A N O R 4 MULTI AXES CABINET MOUNTING 4 1 XTRAPULS CD1 pm 230 l POSITIONER 4 2 XTRAPULS CD1 pm 400 1 8 TO 7 2 A POSITIONER Ground EBHEBHEB 4 3 XTRAPULS CD1 pm 400 14 A 4 4 XTRAPULS CD1 pm 400 30 45 70 AND 90 A POSITIONER POSITIONER X8 Ground 8 GND x9 OOOO R 0 EEEEEEHH
44. t loops The current rating of the reactance must be equal to or higher than the drive rating The reactance must be mounted at the drive output Due to the use of a reactance a shielded cable is not mandatory anymore A more complex sinus filter type FN510 by Schaffner may also be mounted instead of the reactance UNDESIRABLE EFFECTS OF MOTOR CABLES LONGER THAN 25 m Heating of the power module the motor and the cable High overvoltages on the motor windings involving a shortening of their life time The reactance reduces the undesirable effects on motor and drive but it may be quite heated This requires an appropriate fan 2 5 SERIAL LINK CABLES The serial link cable must also be shielded according to the above mentioned shield connection recommendations CAUTION Command cables resolver serial link Profibus as well as the power cables must be A connected and disconnected with the positioner OFF Reminder The power voltage can remain several minutes on the capacitors terminals A contact under high voltage may involve severe physical damage 2 6 CONNECTION CABLES OF THE BRAKING RESISTOR The connection cable to the braking resistor housing must bear the high voltage and temperature of 600 V and 105 C Recommended cable UL 1015 gauge 14 Fastening torque on the connector of the braking resistor housing dp 0 9 Nm 32 Chapter 4 Connections XtrapulsCD1 pm Installation manual N R A N O R 3 R
45. tching off the auxiliary 24 VDC supply This wiring can be used for absolute operation with the Xtrapuls CD1 pm positioner see chapter 4 Connections The power supply is depending on the positioner type e Xtrapuls CD1 pm 230 l 230 VAC single phase mains operation power supply with limitation of the operation power see chapter 2 section 1 1 or three phase via a transformer or an autotransformer or direct three phase mains operation if there are three phase mains available in 200 to 230 VAC e Xtrapuls CD1 pm 400 l 400 to 480 VAC three phase mains operated power supply A soft start system of the power supply allows to limit the inrush current at power on Chapter 1 General description 5 XtrapulsCD1 pm Installation manual N R A N R The very small dimensions of the Xtrapuls CD1 pm positioner allow an optimum integration in 300 mm deep cabinets connectors included The Xtrapuls CD1 pm positioner operates with a PROFIBUS DP interface or in stand alone by using only digital I Os The selection of the various operation modes PROFIBUS or stand alone is made by means of micro switches accessible by the operator 2 2 REFERENCE TO THE STANDARDS CE CERTIFICATION Series Xtrapuls CD1 pm positioners have been approved with regard to their conformity with the Electromagnetic Compatibility standards concerning the power servos referenced in the EN 61800 3 2004 standard Electrical variable speed power servo systems
46. tor Braking resistor oo N o o OR 230 Vac single Mains 230 Vac Power relay Circuit breaker curve D 5 10 x In In 10A 1 CAUTION Imax 100 mA See AOK output specifications Note The 24 V and power supplies protection on source side must be made by the user 26 Chapter 4 Connections XtrapulsCD1 pm Installation manual CINFRANOR 1 2 XTRAPULS 1 4001 POSITIONER See chapter 4 section 3 5 for the UL compliant connection serial port ENABLE Remote control of the power relay 24 Are x ga o 3 3 L Power relay COON O Q gt Q N CD1 pm 400 I RESOLVER Motor temp 1 a Motor temp 2 EB 2 ROR Resolver 7 ei 109 ENABLE swa at Lota E1691 9 INDEX Resolver 5 HO x GND reference 9 bg Q RESET M p u GND 6 GND Shield RxD TxD P 24 CNTR P D GND Motor brake Motor brake 24Vdc 1 5A RxD TxD N MOTOR GND Motor U phase Phase 1 Motor V phase Phase 2 Motor W phase Phase 3 DC 400Vac 400 Vac L3 P three 400 Vac L2 phase 3x400 480 Vac DC Braking resistor Braking resistor UID N Braking resistor CD1 pm 400 1 8 to 7 2 dp 200 100 CD1 pm 400 14 dp 50 200 CD1 pm 400 30 45 70 dp 33 280 CD1 pm

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